Review of rover dynamics modeling methods

被引：0
|
作者：
Leng S. [1 ]
Ju H. [1 ]
机构：
[1] College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Qinghua Daxue Xuebao/Journal of Tsinghua University | 2019年 / 59卷 / 09期
关键词：
Deep space exploration; Dynamics modeling; Multibody; Rover; Terramechanics;
D O I：
10.16511/j.cnki.qhdxxb.2019.26.010
中图分类号：
学科分类号：
摘要：
Modeling of rover dynamics in real-time is key to controlling a rover for planetary exploration. The rover is typically modeled as a rigid body system because of its slow movement and the bogie-rocker structure. This paper introduces various rigid body dynamics analysis approaches and the advantages and disadvantages of these algorithms. Terramechanics is used to describe of the external forces on the rover system. The steel wheel and soft soil model is shown to be the most suitable model for describing the dynamics for real-time modeling of the rover dynamics. © 2019, Tsinghua University Press. All right reserved.
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页码：689 / 698
页数：9
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